Camera sensor
Table of Content
Camera sensor#
SDF#
<model name="camera">
<static>true</static>
<pose>0 0 1.0 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<update_rate>20</update_rate>
<topic>camera</topic>
<always_on>1</always_on>
<visualize>true</visualize>
</sensor>
</link>
</model>
ROS2#
Bridge#
parameter_bridge#
bridge
ros2 run ros_gz_bridge parameter_bridge /camera@sensor_msgs/msg/Image@gz.msgs.Image
topics
ros2 topic list
#
/camera
...
image view
ros2 run rqt_image_view rqt_image_view /camera
image_bridge#
image_bridge
ros2 run ros_gz_image image_bridge /camera
topics
ros2 topic list
#
/camera
/camera/compressed
/camera/compressedDepth
/camera/theora
...
world#
```xml title=”camera_world.sdf
<plugin
filename="gz-sim-sensors-system"
name="gz::sim::systems::Sensors">
</plugin>
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<attenuation>
<range>1000</range>
<constant>0.9</constant>
<linear>0.01</linear>
<quadratic>0.001</quadratic>
</attenuation>
<direction>-0.5 0.1 -0.9</direction>
</light>
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.8 0.8 0.8 1</specular>
</material>
</visual>
</link>
</model>
<model name="camera">
<static>true</static>
<pose>0 0 1.0 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>0.1 0.1 0.1</size>
</box>
</geometry>
</visual>
<sensor name="camera" type="camera">
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>320</width>
<height>240</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
</camera>
<update_rate>20</update_rate>
<topic>camera</topic>
<always_on>1</always_on>
<visualize>true</visualize>
</sensor>
</link>
</model>
<model name="box">
<static>true</static>
<pose>3 0 0.5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</visual>
</link>
</model>
```